CN113400944B - Brake recovery method and device for autonomous vehicle, vehicle and storage medium - Google Patents
Brake recovery method and device for autonomous vehicle, vehicle and storage medium Download PDFInfo
- Publication number
- CN113400944B CN113400944B CN202110789725.3A CN202110789725A CN113400944B CN 113400944 B CN113400944 B CN 113400944B CN 202110789725 A CN202110789725 A CN 202110789725A CN 113400944 B CN113400944 B CN 113400944B
- Authority
- CN
- China
- Prior art keywords
- current
- request
- vehicle
- energy recovery
- braking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 132
- 238000000034 method Methods 0.000 title claims abstract description 44
- 230000004044 response Effects 0.000 claims abstract description 22
- 238000004590 computer program Methods 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 8
- 230000006870 function Effects 0.000 description 29
- 230000003044 adaptive effect Effects 0.000 description 17
- 238000004891 communication Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 239000007788 liquid Substances 0.000 description 5
- 230000001960 triggered effect Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 239000013589 supplement Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000004913 activation Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Regulating Braking Force (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The application discloses a brake recovery method and device for an automatic driving vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: detecting the current working condition of the automatic driving vehicle; when the current working condition is detected to be the self-adaptive cruise working condition, acquiring an electric braking request of the automatic driving vehicle, and matching the current energy recovery torque according to the electric braking request and a preset torque response slope; and recovering the braking energy of the automatic driving vehicle according to the current energy recovery torque while braking the automatic driving vehicle according to the electric braking request. Therefore, the problem that the energy recovery efficiency is low due to the fact that the vehicle can be actively braked without stepping on a brake pedal under the working condition of the self-adaptive cruise function and the energy recovery cannot be carried out by adopting a method of the related technology is solved, and the energy recovery efficiency of the vehicle under the working condition of the self-adaptive cruise is greatly improved.
Description
Technical Field
The present disclosure relates to vehicle technologies, and in particular, to a method and an apparatus for recovering braking of an autonomous vehicle, a vehicle, and a storage medium.
Background
At present, the comprehensive driving range of the vehicle is limited by the technology of the current vehicle battery, and the energy density of the battery cannot be greatly improved. In order to increase the endurance mileage of the vehicle, the control of the recovery of the braking energy of the new energy automobile becomes important.
In the related technology, the braking energy recovery strategy of the vehicle can generate deceleration through the reverse dragging of the motor to replace hydraulic braking after a driver actively steps on a brake pedal, and the kinetic energy lost during braking is recovered into a power battery to increase the endurance mileage of the vehicle.
However, since many current vehicles are equipped with Adaptive Cruise Control (ACC), after the Adaptive Cruise function of the vehicle is triggered, the vehicle can keep a set distance with the front vehicle to follow the vehicle, and the vehicle decelerates and also brakes to keep the set distance with the front vehicle, but the brake pedal does not need to be stepped on under the working condition of the Adaptive Cruise function, the vehicle can actively brake, and the energy recovery cannot be performed by using a braking energy recovery strategy in the related art, so that the energy recovery efficiency is low, and a solution is needed urgently.
Content of application
The application provides a brake recovery method and device for an automatic driving vehicle, the vehicle and a storage medium, and aims to solve the problem that the energy recovery efficiency is low due to the fact that a brake pedal does not need to be stepped down under the working condition of a self-adaptive cruise function, the vehicle can be actively braked, and energy recovery cannot be performed by adopting a method of the related art, and the energy recovery efficiency of the vehicle under the working condition of the self-adaptive cruise is greatly improved.
An embodiment of a first aspect of the present application provides a brake recovery method for an autonomous vehicle, including the following steps:
detecting the current working condition of the automatic driving vehicle;
when the current working condition is detected to be the self-adaptive cruise working condition, acquiring an electric braking request of the automatic driving vehicle, and matching the current energy recovery torque according to the electric braking request and a preset torque response slope; and
and when the automatic driving vehicle is braked according to the electric braking request, recovering the braking energy of the automatic driving vehicle according to the current energy recovery torque.
Optionally, said matching the current energy recovery torque according to the electric brake request with a preset torque response slope comprises:
acquiring a target electric braking force and/or a target hydraulic braking force according to the electric braking request;
obtaining a current build-up pressure value of a brake actuator according to the target electric braking force and/or the target hydraulic braking force and the actual pressure of a master cylinder;
and matching the current energy recovery torque according to the current pressure build-up value and the preset torque response slope.
Optionally, the recovering the braking energy of the autonomous vehicle from the autonomous vehicle according to the current energy recovery torque includes: identifying a driver's braking intent;
correcting the current energy recovery torque according to the braking intention.
Optionally, the obtaining an electric braking request of the autonomous vehicle includes: acquiring the current working state of the self-adaptive cruise working condition, the current deceleration request, and the pressure maintaining request when the fault state and the vehicle speed are zero;
calculating the target brake pressure under the self-adaptive cruise working condition according to the current working state, the current deceleration request, the fault state and the pressure maintaining request when the vehicle speed is zero;
and generating the electric braking request according to the target braking pressure, the actual pressure of the master cylinder and the fault state of the controller.
Optionally, before the obtaining of the electric braking request of the autonomous vehicle, the method further includes:
detecting an energy recovery state of the autonomous vehicle;
and if the energy recovery state is the available state, performing energy recovery on the automatic driving vehicle. An embodiment of a second aspect of the present application provides a brake recovery device for an autonomous vehicle, including:
the detection module is used for detecting the current working condition of the automatic driving vehicle;
the matching module is used for acquiring an electric braking request of the automatic driving vehicle when the current working condition is detected to be the self-adaptive cruise working condition, and matching the current energy recovery torque according to the electric braking request and a preset torque response slope; and
and the recovery module is used for recovering the braking energy of the automatic driving vehicle according to the current energy recovery torque while braking the automatic driving vehicle according to the electric braking request.
Optionally, the matching module is specifically configured to:
acquiring a target electric braking force and/or a target hydraulic braking force according to the electric braking request;
obtaining a current pressure build-up value of a brake actuator according to the target electric braking force and/or the target hydraulic braking force and the actual pressure of a master cylinder;
and matching the current energy recovery torque according to the current pressure build-up value and the preset torque response slope.
Optionally, the recovery module is specifically configured to:
identifying a driver's braking intention;
correcting the current energy recovery torque according to the braking intention.
Optionally, the matching module is specifically configured to:
acquiring the current working state of the self-adaptive cruise working condition, the current deceleration request, and the pressure maintaining request when the fault state and the vehicle speed are zero;
calculating the target brake pressure under the self-adaptive cruise working condition according to the current working state, the current deceleration request, the fault state and the pressure maintaining request when the vehicle speed is zero;
and generating the electric braking request according to the target braking pressure, the actual pressure of the master cylinder and the fault state of the controller.
Optionally, before the obtaining of the electric braking request of the autonomous vehicle, the matching module is further configured to:
detecting an energy recovery state of the autonomous vehicle;
and if the energy recovery state is the available state, performing energy recovery on the automatic driving vehicle. An embodiment of a third aspect of the present application provides a vehicle, comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the brake recovery method of an autonomous vehicle as described in the above embodiments.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon a computer program for execution by a processor for implementing the above-described brake recovery method for an autonomous vehicle.
Therefore, when the self-adaptive cruise condition of the vehicle is detected, the electric braking request of the automatic driving vehicle is obtained, the current energy recovery torque is matched according to the electric braking request and a certain torque response slope, the automatic driving vehicle is braked according to the electric braking request, and meanwhile the braking energy of the automatic driving vehicle is recovered from the automatic driving vehicle according to the current energy recovery torque. Therefore, the problem that the energy recovery efficiency is low due to the fact that the vehicle can be actively braked without stepping on a brake pedal under the working condition of the self-adaptive cruise function and the energy recovery cannot be carried out by adopting a method of the related technology is solved, and the energy recovery efficiency of the vehicle under the working condition of the self-adaptive cruise is greatly improved.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for brake recovery of an autonomous vehicle according to an embodiment of the present application;
FIG. 2 is a control schematic of a brake recovery method for an autonomous vehicle according to one embodiment of the present application;
FIG. 3 is a flow chart of a method of brake recovery for an autonomous vehicle according to an embodiment of the present application;
FIG. 4 is a block schematic diagram of a brake recovery apparatus of an autonomous vehicle according to an embodiment of the application;
FIG. 5 is a block diagram of a vehicle according to an exemplary embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
A brake recovery method and apparatus for an autonomous vehicle, a vehicle, and a storage medium according to embodiments of the present application are described below with reference to the accompanying drawings. In order to solve the problem mentioned in the background art center that the energy recovery efficiency is low because the vehicle can be actively braked without stepping on a brake pedal under the working condition of the adaptive cruise function and the energy recovery cannot be performed by adopting a method of the related art, the application provides a brake recovery method of an automatically-driven vehicle. Therefore, the problem that the energy recovery efficiency is low due to the fact that the vehicle can be actively braked without stepping on a brake pedal under the working condition of the self-adaptive cruise function and the energy recovery cannot be carried out by adopting a method of the related technology is solved, and the energy recovery efficiency of the vehicle under the working condition of the self-adaptive cruise is greatly improved.
Specifically, fig. 1 is a schematic flowchart of a brake recovery method for an autonomous vehicle according to an embodiment of the present disclosure.
As shown in fig. 1, the brake recovering method of the autonomous vehicle includes the steps of:
in step S101, the current operating condition of the autonomous vehicle is detected.
It should be appreciated that there are many operating conditions for autonomous vehicles, such as driving conditions, parking conditions, adaptive cruise conditions, and the like.
For example, when the vehicle is in the adaptive cruise condition, the current condition of the automatically-driven vehicle detected by the embodiment of the application is the adaptive cruise condition.
In step S102, when it is detected that the current operating condition is the adaptive cruise operating condition, an electric braking request of the autonomous vehicle is obtained, and the current energy recovery torque is matched according to a preset torque response slope according to the electric braking request.
Optionally, in some embodiments, obtaining an electric braking request of the autonomous vehicle comprises: acquiring a current working state of a self-adaptive cruise working condition, a current deceleration request, and a pressure maintaining request when a fault state and a vehicle speed are zero; calculating target brake pressure under the self-adaptive cruise working condition according to the current working state, the current deceleration request, the fault state and the pressure maintaining request when the vehicle speed is zero; and generating an electric braking request according to the target braking pressure, the actual pressure of the master cylinder and the fault state of the controller.
Specifically, in the embodiment of the application, an ESC (Electronic Stability Controller) may be used to receive a pressure maintaining request when a current working state, a current deceleration request, a fault state and a Vehicle speed under an adaptive cruise condition are zero, calculate a target brake pressure, a master cylinder actual pressure and a Controller fault state under the adaptive cruise condition and send the target brake pressure, the master cylinder actual pressure and the Controller fault state to an IBS, and calculate an electric brake request under the adaptive cruise condition and send the electric brake request to a VCU (Vehicle control unit ).
Optionally, in some embodiments, before obtaining the electric braking request of the autonomous vehicle, the method further includes: detecting an energy recovery state of the autonomous vehicle; and if the energy recovery state is the available state, recovering the energy of the automatic driving vehicle.
It should be appreciated that under adaptive cruise conditions, if the energy recovery status of the autonomous vehicle is available, energy recovery may be performed, and if the energy recovery status of the autonomous vehicle is unavailable, the IBS may be controlled to provide a deceleration of vehicle braking in response to the braking demand assigned by the ESC.
Optionally, in some embodiments, matching the current energy recovery torque according to the preset torque response slope based on the electric brake request comprises: acquiring a target electric braking force and/or a target hydraulic braking force according to the electric braking request; obtaining a current build-up pressure value of the brake actuator according to the target electric braking force and/or the target hydraulic braking force and the actual pressure of the master cylinder; and matching the current energy recovery torque according to the current pressure build-up value and a preset torque response slope.
Specifically, the IBS receives a target brake pressure (i.e., a target electric brake force and/or a target hydraulic brake force) and an actual master cylinder pressure sent by the ESC, performs closed-loop control on a current build-up pressure value, and sends a brake demand and an energy recovery operating state of the driver to the vehicle control unit assembly for determination.
That is to say, the VCU may receive the electric braking request sent by the ESC, establish the energy recovery torque according to the preset torque response slope, and feed back the current actual electric braking torque and the maximum recovery torque capability of the motor to the ESC and the IBS, so as to complete the braking force distribution calculation for braking energy recovery.
In step S103, the braking energy of the autonomous vehicle is recovered from the autonomous vehicle according to the current energy recovery torque while the autonomous vehicle is braked according to the electric braking request.
Optionally, in some embodiments, recovering braking energy of the autonomous vehicle from the current energy recovery torque to the autonomous vehicle comprises: identifying a driver's braking intent; the current energy recovery torque is corrected according to the braking intention.
That is to say, when the braking energy of the autonomous vehicle is recovered from the autonomous vehicle under the adaptive cruise condition, the triggering flag bit of the ESC controller needs to be referred to in the embodiment of the present application.
Specifically, the embodiment of the application can identify the braking intention of the driver and correct the current energy recovery torque according to the braking intention, and the following conditions mainly exist:
(1) under the self-adaptive cruise working condition and with a braking demand, if an EBD (electronic brake force distribution) function intervenes, ESC main control calculates and distributes the Electric brake and liquid brake proportion, VCU quits the Electric brake according to the Electric brake demand given by ESC, and IBS supplements pressure according to the liquid brake demand given by ESC to ensure the vehicle braking demand;
(2) under the adaptive cruise condition and with the braking demand, if ABS (antilock brake system) function intervenes, the adaptive cruise condition can not exit, and ESC controls the electric braking to exit or reduce to the safe value. At the moment, the ESC carries out braking force distribution calculation, the ACC function and the ABS anti-lock braking function are coordinated, and the VCU controls the electric braking to respond to the braking energy distribution of the ESC;
(3) under the self-adaptive cruise working condition and with a braking demand, if VDC (VDC driving dynamic control system) vehicle dynamic stability function control is involved, the self-adaptive cruise working condition can not exit, and the ESC takes over braking force distribution to adjust the vehicle state, the energy recovery function exits and no electric brake exists;
(4) the HDC (Hill Descent Control, steep Descent Control function) and the self-adaptive cruise working condition have the same priority, so that the energy recovery under the self-adaptive cruise working condition can not interact with the HDC steep Descent Control function, the two functions do not have the condition of simultaneous triggering, and the vehicle preferentially responds to the function of triggering first;
(5) under the self-adaptive cruise working condition, if a driver pulls up the electronic hand brake switch to request the CDP dynamic parking function, the self-adaptive cruise working condition exits, so that the energy recovery under the self-adaptive cruise working condition can not interact with the CDP dynamic parking function;
(5) when the VDC vehicle dynamic stability control function and the CDP dynamic parking function are activated, the VCU of the vehicle control unit quits energy recovery at the fastest slope according to the activation state of the functions, and the ESC controller assembly takes over the braking requirement of the vehicle.
(6) When the VCU of the vehicle control unit judges that the braking energy recovery is not allowed, the self-adaptive cruise working condition/driver braking energy recovery is not executed;
(7) when the communication between the VCU and the ESC controller/IBS controller is interrupted, the ACC/IBS energy recovery request is not executed;
(8) under the self-adaptive cruise working condition, if a driver steps on a brake pedal, electro-hydraulic brake force distribution is controlled by IBS, and the VCU establishes recovery torque according to an electric brake demand sent by IBS. In order to further understand the brake recovery method of the autonomous vehicle according to the embodiment of the present application, the following embodiments are described in detail with reference to fig. 2 and 3.
Specifically, as shown in fig. 2, fig. 2 is a control schematic diagram of a brake recovery method of an autonomous vehicle according to an embodiment of the present application.
Specifically, the Controller is based on an electronic stability control system, an electronic vacuum booster and a vehicle control unit, and all the controllers are connected through a high-speed CAN (Controller Area Network) bus. After receiving a deceleration request under the self-adaptive cruise working condition, preferentially using an electric brake to respond to the acceleration request under the condition of allowing energy recovery, wherein the electric brake is applied to a driving shaft; according to the vehicle driving form, the electric brake is only applied to the driving shaft, if the electric brake cannot meet the target deceleration request under the self-adaptive cruise working condition, the electric brake needs to be supplemented with liquid brake, the front shaft is preferentially supplemented according to the principle that the brake force is applied to the front shaft as much as possible, and the front shaft and the rear shaft are not supplemented with liquid brake at the same time; when the vehicle speed is reduced and the electric braking capacity gradually does not meet the target deceleration requirement, the ESC can calculate the braking requirement and distribute the electro-hydraulic braking force proportion, and the VCU exits according to the electric braking torque calculated by the ESC and a certain slope.
IBS supplements the liquid braking force calculated by ESC in time to ensure enough deceleration capacity; when energy is recovered under the adaptive cruise condition, the ESC sends a target recovery torque of the ACC electric brake to the VCU, and the target torque is not more than the maximum value of the allowable recovery torque at the moment.
Further, as shown in fig. 3, the brake recovery method of the autonomous vehicle includes the steps of:
and S301, starting.
S302, judging whether the ACC function is triggered, if so, executing the step S303, otherwise, continuing to execute the current step.
And judging whether the ACC function is triggered, namely judging whether the current vehicle is in the self-adaptive cruise working condition.
And S303, judging whether the energy recovery state is an available state or not through the VCU, if so, executing the step S304, and otherwise, executing the step S309.
S304, judging whether the driver presses the brake pedal, if so, executing step S308, otherwise, executing step S305.
S305, judging whether VDC or CDP is triggered, if yes, executing step S306, otherwise, executing step S307.
S306, ACC exits, ESC takes over, no electric brake is applied, and the step S310 is executed in a skipping mode.
S307, the ESC distributes the electro-hydraulic brake proportion, the IBS and the VCU are executed according to the request sent by the ESC, and the step S310 is executed.
S308, the IBS performs main control electro-hydraulic brake force distribution, the VCU executes according to the request sent by the IBS, and the step S310 is executed.
S309, without electric braking, the IBS provides vehicle braking deceleration in response to the assigned braking demand.
And S310, ending.
According to the brake recovery method for the automatic driving vehicle, when the vehicle is detected to be in the self-adaptive cruise working condition, the electric brake request of the automatic driving vehicle can be obtained, the current energy recovery torque is matched according to the electric brake request and a certain torque response slope, the automatic driving vehicle is braked according to the electric brake request, and meanwhile the braking energy of the automatic driving vehicle is recovered from the automatic driving vehicle according to the current energy recovery torque. Therefore, the problem that the energy recovery efficiency is low due to the fact that the vehicle can be actively braked without stepping on a brake pedal under the working condition of the self-adaptive cruise function and the energy recovery cannot be carried out by adopting a method of the related technology is solved, and the energy recovery efficiency of the vehicle under the working condition of the self-adaptive cruise is greatly improved.
Next, a brake recovery apparatus of an autonomous vehicle according to an embodiment of the present application will be described with reference to the accompanying drawings.
Fig. 4 is a block schematic diagram of a brake recovery apparatus of an autonomous vehicle according to an embodiment of the present application.
As shown in fig. 4, the brake recovery apparatus 10 of the autonomous vehicle includes: detection module 100, matching module 200, and recycling module 300.
The detection module 100 is used for detecting the current working condition of the automatic driving vehicle;
the matching module 200 is configured to obtain an electric braking request of the autonomous vehicle when the current working condition is detected to be the adaptive cruise working condition, and match the current energy recovery torque according to a preset torque response slope according to the electric braking request; and
the recovery module 300 is configured to recover braking energy of the autonomous vehicle from the autonomous vehicle according to the current energy recovery torque while braking the autonomous vehicle according to the electric braking request.
Optionally, in some embodiments, the matching module 200 is specifically configured to:
acquiring a target electric braking force and/or a target hydraulic braking force according to the electric braking request;
obtaining a current build-up pressure value of the brake actuator according to the target electric braking force and/or the target hydraulic braking force and the actual pressure of the master cylinder;
and matching the current energy recovery torque according to the current pressure build-up value and a preset torque response slope.
Optionally, in some embodiments, the recycling module 300 is specifically configured to:
identifying a driver's braking intent;
the current energy recovery torque is corrected according to the braking intention.
Optionally, in some embodiments, the matching module 200 is specifically configured to: acquiring a current working state of a self-adaptive cruise working condition, a current deceleration request, and a pressure maintaining request when a fault state and a vehicle speed are zero;
calculating target brake pressure under the self-adaptive cruise working condition according to the current working state, the current deceleration request, the pressure maintaining request when the fault state and the vehicle speed are zero;
and generating an electric braking request according to the target braking pressure, the actual pressure of the master cylinder and the fault state of the controller.
Optionally, in some embodiments, before obtaining the electric brake request of the autonomous vehicle, the matching module 200 is further configured to:
detecting an energy recovery state of the autonomous vehicle;
and if the energy recovery state is the available state, recovering the energy of the automatic driving vehicle.
It should be noted that the foregoing explanation of the embodiment of the brake recovery method for an autonomous vehicle is also applicable to the brake recovery device for an autonomous vehicle of this embodiment, and will not be described herein again.
According to the brake recovery device for the automatic driving vehicle, provided by the embodiment of the application, when the vehicle is detected to be in the self-adaptive cruise working condition, the electric brake request of the automatic driving vehicle can be obtained, the current energy recovery torque is matched according to a certain torque response slope according to the electric brake request, the automatic driving vehicle is braked according to the electric brake request, and meanwhile, the brake energy of the automatic driving vehicle is recovered from the automatic driving vehicle according to the current energy recovery torque. Therefore, the problem that the energy recovery efficiency is low due to the fact that the vehicle can be actively braked without stepping on a brake pedal under the working condition of the self-adaptive cruise function and the energy recovery cannot be carried out by adopting a method of the related technology is solved, and the energy recovery efficiency of the vehicle under the working condition of the self-adaptive cruise is greatly improved.
Fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application. The vehicle may include:
a memory 501, a processor 502, and a computer program stored on the memory 501 and executable on the processor 502.
The processor 502, when executing the program, implements the brake recovery method for the autonomous vehicle provided in the above-described embodiments.
Further, the vehicle further includes:
a communication interface 503 for communication between the memory 501 and the processor 502.
A memory 501 for storing computer programs that can be run on the processor 502.
The memory 501 may comprise high-speed RAM memory, and may also include non-volatile memory (non-volatile memory), such as at least one disk memory.
If the memory 501, the processor 502 and the communication interface 503 are implemented independently, the communication interface 503, the memory 501 and the processor 502 may be connected to each other through a bus and perform communication with each other. The bus may be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, an Extended ISA (EISA) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown in FIG. 5, but this is not intended to represent only one bus or type of bus.
Optionally, in a specific implementation, if the memory 501, the processor 502, and the communication interface 503 are integrated on a chip, the memory 501, the processor 502, and the communication interface 503 may complete communication with each other through an internal interface.
The processor 502 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.
The present embodiment also provides a computer-readable storage medium having stored thereon a computer program characterized in that the program, when executed by a processor, implements the brake recovery method for an autonomous vehicle as above.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or N embodiments or examples. Moreover, various embodiments or examples and features of various embodiments or examples described in this specification can be combined and combined by one skilled in the art without being mutually inconsistent.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "N" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more N executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of implementing the embodiments of the present application.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
Claims (7)
1. A brake recovery method for an autonomous vehicle, comprising the steps of:
detecting the current working condition of the automatic driving vehicle;
when the current working condition is detected to be the self-adaptive cruise working condition, acquiring an electric braking request of the automatic driving vehicle, and matching the current energy recovery torque according to the electric braking request and a preset torque response slope; and
recovering braking energy of the autonomous vehicle from the autonomous vehicle according to the current energy recovery torque while braking the autonomous vehicle according to the electric braking request;
wherein the obtaining an electric braking request of the autonomous vehicle comprises: acquiring the current working state of the self-adaptive cruise working condition, the current deceleration request, and the pressure maintaining request when the fault state and the vehicle speed are zero; calculating the target brake pressure under the self-adaptive cruise working condition according to the current working state, the current deceleration request, the fault state and the pressure maintaining request when the vehicle speed is zero; generating the electric braking request according to the target braking pressure, the actual pressure of the master cylinder and the fault state of the controller;
the matching of the current energy recovery torque according to the electric braking request and a preset torque response slope comprises: acquiring a target electric braking force and/or a target hydraulic braking force according to the electric braking request; obtaining a current pressure build-up value of a brake actuator according to the target electric braking force and/or the target hydraulic braking force; and matching the current energy recovery torque according to the current pressure build-up value and the preset torque response slope.
2. The method of claim 1, wherein the recovering braking energy of the autonomous vehicle from the current energy recovery torque to the autonomous vehicle comprises: identifying a driver's braking intent;
correcting the current energy recovery torque according to the braking intention.
3. The method of claim 1, wherein prior to obtaining the request for electric braking of the autonomous vehicle, further comprising:
detecting an energy recovery state of the autonomous vehicle;
and if the energy recovery state is the available state, performing energy recovery on the automatic driving vehicle.
4. A brake recovery device for an autonomous vehicle, comprising:
the detection module is used for detecting the current working condition of the automatic driving vehicle;
the matching module is used for acquiring an electric braking request of the automatic driving vehicle when the current working condition is detected to be the self-adaptive cruise working condition, and matching the current energy recovery torque according to the electric braking request and a preset torque response slope; and
the recovery module is used for recovering the braking energy of the automatic driving vehicle according to the current energy recovery torque while braking the automatic driving vehicle according to the electric braking request;
the matching module is specifically configured to: the obtaining of the electric braking request of the autonomous vehicle includes: acquiring the current working state of the self-adaptive cruise working condition, the current deceleration request, and the pressure maintaining request when the fault state and the vehicle speed are zero; calculating the target brake pressure under the self-adaptive cruise working condition according to the current working state, the current deceleration request, the fault state and the pressure maintaining request when the vehicle speed is zero; generating the electric braking request according to the target braking pressure, the actual pressure of the master cylinder and the fault state of the controller;
acquiring a target electric braking force and/or a target hydraulic braking force according to the electric braking request; obtaining a current pressure build-up value of a brake actuator according to the target electric braking force and/or the target hydraulic braking force; and matching the current energy recovery torque according to the current pressure build-up value and the preset torque response slope.
5. The apparatus according to claim 4, wherein the recovery module is specifically configured to:
identifying a driver's braking intent;
correcting the current energy recovery torque according to the braking intention.
6. A vehicle, characterized by comprising: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of brake recovery of an autonomous vehicle as claimed in any of claims 1 to 3.
7. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing a brake recovery method for an autonomous vehicle according to any of claims 1-3.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110789725.3A CN113400944B (en) | 2021-07-13 | 2021-07-13 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110789725.3A CN113400944B (en) | 2021-07-13 | 2021-07-13 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113400944A CN113400944A (en) | 2021-09-17 |
| CN113400944B true CN113400944B (en) | 2022-06-03 |
Family
ID=77686046
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110789725.3A Active CN113400944B (en) | 2021-07-13 | 2021-07-13 | Brake recovery method and device for autonomous vehicle, vehicle and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113400944B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113895240B (en) * | 2021-10-11 | 2023-03-28 | 同济大学 | Hybrid electric vehicle coordinated regenerative braking control method based on brake pedal decoupling |
| CN114148324B (en) * | 2021-11-30 | 2024-05-14 | 奇瑞新能源汽车股份有限公司 | Cruise control method and device for vehicle, vehicle and storage medium |
| CN114179621B (en) * | 2021-12-23 | 2023-04-28 | 奇瑞商用车（安徽）有限公司 | Method and device for controlling descent control of abrupt slope of vehicle |
| CN115782601B (en) * | 2022-11-30 | 2024-07-16 | 深蓝汽车科技有限公司 | Braking energy recovery method, device, equipment and medium |
| CN118596869A (en) * | 2023-08-07 | 2024-09-06 | 华为技术有限公司 | Control method and control device |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201014970D0 (en) * | 2010-09-09 | 2010-10-20 | Lightning Car Company The Ltd | Braking |
| KR20120109097A (en) * | 2011-03-24 | 2012-10-08 | 현대자동차주식회사 | Auto cruise control method for electric vehicle |
| CN106696717A (en) * | 2015-11-12 | 2017-05-24 | 北汽福田汽车股份有限公司 | Energy recovery control method for vehicles and vehicles utilizing the method |
| JP2017206244A (en) * | 2012-12-10 | 2017-11-24 | ジャガー・ランド・ローバー・リミテッドＪａｇｕａｒ Ｌａｎｄ Ｒｏｖｅｒ Ｌｉｍｉｔｅｄ | Vehicle and controlling method thereof |
| CN108162941A (en) * | 2017-12-28 | 2018-06-15 | 万向钱潮股份有限公司 | A kind of EHB electro-hydraulic brake systems brake control method |
| CN108515964A (en) * | 2018-03-22 | 2018-09-11 | 吉利汽车研究院（宁波）有限公司 | Vehicle torsional moment distribution method, apparatus and system |
| CN108528454A (en) * | 2018-03-30 | 2018-09-14 | 吉利汽车研究院（宁波）有限公司 | Method for recovering brake energy, brake energy recovering system and vehicle |
| CN108995539A (en) * | 2018-09-06 | 2018-12-14 | 海马新能源汽车有限公司 | Energy recovery control method, system and electric car |
| CN111376881A (en) * | 2018-12-29 | 2020-07-07 | 北京宝沃汽车有限公司 | Braking method and device applied to adaptive cruise and vehicle |
| CN111645528A (en) * | 2020-06-05 | 2020-09-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
-
2021
- 2021-07-13 CN CN202110789725.3A patent/CN113400944B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB201014970D0 (en) * | 2010-09-09 | 2010-10-20 | Lightning Car Company The Ltd | Braking |
| KR20120109097A (en) * | 2011-03-24 | 2012-10-08 | 현대자동차주식회사 | Auto cruise control method for electric vehicle |
| JP2017206244A (en) * | 2012-12-10 | 2017-11-24 | ジャガー・ランド・ローバー・リミテッドＪａｇｕａｒ Ｌａｎｄ Ｒｏｖｅｒ Ｌｉｍｉｔｅｄ | Vehicle and controlling method thereof |
| CN106696717A (en) * | 2015-11-12 | 2017-05-24 | 北汽福田汽车股份有限公司 | Energy recovery control method for vehicles and vehicles utilizing the method |
| CN108162941A (en) * | 2017-12-28 | 2018-06-15 | 万向钱潮股份有限公司 | A kind of EHB electro-hydraulic brake systems brake control method |
| CN108515964A (en) * | 2018-03-22 | 2018-09-11 | 吉利汽车研究院（宁波）有限公司 | Vehicle torsional moment distribution method, apparatus and system |
| CN108528454A (en) * | 2018-03-30 | 2018-09-14 | 吉利汽车研究院（宁波）有限公司 | Method for recovering brake energy, brake energy recovering system and vehicle |
| CN108995539A (en) * | 2018-09-06 | 2018-12-14 | 海马新能源汽车有限公司 | Energy recovery control method, system and electric car |
| CN111376881A (en) * | 2018-12-29 | 2020-07-07 | 北京宝沃汽车有限公司 | Braking method and device applied to adaptive cruise and vehicle |
| CN111645528A (en) * | 2020-06-05 | 2020-09-11 | 中国第一汽车股份有限公司 | Braking energy recovery control method, system, device, vehicle and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113400944A (en) | 2021-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113400944B (en) | Brake recovery method and device for autonomous vehicle, vehicle and storage medium | |
| EP2987693B1 (en) | Braking apparatus of vehicle | |
| US20220258708A1 (en) | Method and apparatus for braking a utility vehicle with an electric drive | |
| US20130085631A1 (en) | System and method for controlling uphill driving of an electric vehicle | |
| CN108025651A (en) | Electric vehicle with the braking system and method for braking system, controller and computer program | |
| CN106608254B (en) | Apparatus and method for controlling electronic parking brake | |
| CN112498115B (en) | Braking energy recovery method, braking energy recovery device and vehicle | |
| US10479361B2 (en) | Apparatus and method for controlling braking of vehicle | |
| CN110816281B (en) | Control unit, device and method for vehicle recuperation brake control | |
| EP3816000B1 (en) | Vehicle braking control method and system, vehicle and computer-readable storage medium | |
| CN106926709B (en) | Braking energy recovery device and method and light electric vehicle | |
| CN112660092A (en) | Downhill braking method and device for electric automobile and electric automobile | |
| CN108501728A (en) | Trailing wheel regenerative brake control system and its method for vehicle | |
| US9242563B2 (en) | Method and apparatus for controlling drive motor | |
| CN112248817A (en) | Electric vehicle, energy recovery control system, stability control method, and medium therefor | |
| CN108583566A (en) | Method for recovering brake energy and system for hybrid vehicle | |
| CN105905113B (en) | For controlling the System and method for of the braking of electric vehicle | |
| CN114179621A (en) | Steep-slope slow-descending control method and device for vehicle | |
| CN113696863A (en) | System and method for improving braking delay of intelligent driving vehicle | |
| CN114148324B (en) | Cruise control method and device for vehicle, vehicle and storage medium | |
| CN117642307A (en) | Braking method, device, electronic equipment, vehicle and medium | |
| CN114312349A (en) | Pure electric vehicle slow speed driving method | |
| CN113306405A (en) | Energy recovery method and device, vehicle and equipment | |
| CN111845363A (en) | Compensation method and compensation unit for motor recovery torque loss and vehicle | |
| CN114954393B (en) | Vehicle control method and related device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |